CN115568456A - Intelligent seedling sorting equipment and sorting method - Google Patents

Abstract

The invention discloses intelligent seedling sorting equipment, which comprises: the intelligent seedling sorting machine comprises a rack, wherein a fixed frame and a conveying device are arranged at the top of the rack, an image information acquisition device is arranged on one side in the fixed frame, a plurality of spray pipes are arranged in the fixed frame side by side on the side opposite to the image information acquisition device, and the image information acquisition device and the spray pipes are both positioned above the conveying device. According to the invention, based on the optical imaging rapid nondestructive identification of the hyperspectral camera, the selected seedlings are sprayed with the strong brine through the spray pipe, so that the fertile seedlings are accurately pulled out, the rapid, unmanned and efficient sorting effect is achieved, the whole equipment is simple in structure and convenient to operate, the sorting efficiency can be effectively improved, and the sorting cost is reduced.

Description

Intelligent seedling sorting equipment and sorting method

Technical Field

The invention relates to the technical field of agricultural equipment, in particular to intelligent seedling sorting equipment and a sorting method.

Background

Crop heterosis utilization is an important approach to improve crop yield, resistance, and the like. At present, the production of grain crop (rice) and vegetable (such as pepper, tomato and the like) hybrid seeds still adopts artificial emasculation and pollination for hybridization, the production cost of the seeds is high, and the seeds lack market competitiveness compared with foreign varieties. The first generation hybrid seeds produced by the male sterile line testing and matching can save the manual castration link, reduce the seed production cost, ensure the seed purity to the maximum extent and effectively protect the independent intellectual property rights. Under the condition that the labor cost is increased year by year, the male sterile hybrid seed production technology has good application prospect and is the most economic and effective way for utilizing the heterosis of crops.

At present, the male sterile line for carrying out hybrid seed production in crops mainly comprises a self-incompatible line, a cytoplasmic male sterile line (CMS), a nuclear sterile dual-purpose line (GMS) and the like. In actual production, the hybrid seed production by using the self-incompatible line has a series of problems of high propagation cost of parents, easy vitality degradation of the parents caused by long-term self-crossing, lower hybridization rate than 100 percent, difficult elimination and selection and the like; the cytoplasmic male sterile line (CMS) is utilized to produce hybrid first-generation seeds, the CMS sterile line generally has the temperature-sensitive characteristic, the breeding period is long, the seed production yield is low, and the factors of plant growth deterioration, hybrid vigor difference and the like after multi-generation transformation restrict the actual production; the fertility of the dual-purpose line of the Genic Male Sterility (GMS) is mostly controlled by a pair of recessive genic male sterility genes, and the fertility of the dual-purpose line of the Genic Male Sterility (GMS) is controlled by a few dominant genes, which are unrelated to cytoplasm, and the general variety is the restorer line of the genic male sterility. Sterile plants and fertile plants in the progeny of the dual-purpose sterile line respectively account for 50 percent and can be used as the sterile line and the maintainer line, wherein 50 percent of the sterile plants play a role of a male sterile line, and 50 percent of the fertile plants play a role of a semi-maintainer line. The method has the advantages of simple seed production process, stable sterility, wide recovery source, short period and wide application; the method has the disadvantages that the seeding quantity, the fixed planting plant number and the transplanting area of the female parent are doubled compared with the common hybrid seed production, 50 percent of fertile plants need to be manually identified and pulled out in the initial flowering period, so that the waste of land resources is caused, the seed production cost is indirectly increased, and on the other hand, if the fertile plants in the female parent field are not completely removed, the variety mixing is easily caused, so the seed production purity is reduced.

With the development of molecular biology technology, the nuclear sterile gene of the dual-purpose sterile line is finely positioned and cloned, a molecular marker which is co-separated with a GMS phenotype or based on the nuclear sterile gene is screened out, reverse hybridization is assisted by the marker, the nuclear sterile gene is promoted to be efficiently and quickly transferred to different genetic backgrounds, meanwhile, sterile plants can be identified early in a seedling stage, the number of fixed plants is reduced, the planting area is saved, the production cost is reduced, the breeding process can be accelerated, the breeding period is shortened, and the purposes of improving the efficiency of hybrid seed production and the purity of seeds are achieved.

However, the method for identifying male sterility in early stage established by means of molecular marker-assisted selective breeding has the problems of low sorting efficiency (complex processes such as DNA extraction, PCR amplification, DNA sequence analysis and the like need to be carried out in a laboratory after a small piece of tender leaf on each seedling is respectively taken and numbered), high sorting cost (high instrument molecular biological equipment is required and high-purity and high-price reagents are consumed).

Therefore, how to provide an intelligent seedling sorting device and a sorting method capable of improving the sorting efficiency and reducing the sorting cost is one of the technical problems to be solved urgently in the field.

Disclosure of Invention

In view of the above, the invention provides intelligent seedling sorting equipment and a sorting method. The purpose is in order to solve the problem that exists among the prior art.

In order to solve the technical problems, the invention adopts the following technical scheme:

an intelligent seedling sorting device, comprising: the frame, the frame top is equipped with fixed frame and the conveyor who is used for transmitting the cave dish, one side in the fixed frame is equipped with image information collection system, in the fixed frame with one side that image information collection system is relative is equipped with a plurality of spray tubes side by side, image information collection system and a plurality of the spray tube all is located the conveyor top.

Preferably, a water tank is arranged at the bottom of the rack, and the spray pipes are communicated with the water tank through water pumps.

Preferably, conveyor is band conveyer, band conveyer includes conveyer belt, two transfer running rollers, first motor, drive belt and two drive wheels, two transfer running rollers rotate connect in the frame both sides, the conveyer belt cup joint in two the transfer running roller outside, two one of them in the transfer running roller one end of transfer running roller is connected with one the drive wheel, first motor set up in the frame, the output of first motor is connected with one the drive wheel, two the drive wheel passes through the drive belt is connected.

Preferably, the lower end face of the transmission belt is provided with a bearing supporting plate, and the bearing supporting plate is fixedly connected to the rack.

Preferably, the image information acquisition device is a hyperspectral camera, and the hyperspectral camera is connected to the fixed frame through a mounting plate.

Preferably, the mounting plate is provided with a driving device for driving the hyperspectral camera to move up and down, and the hyperspectral camera is connected to the output end of the driving device.

Preferably, drive arrangement includes second motor, two risers, ball and removes the slip table, two riser fixed connection is on the mounting panel, ball rotate connect in two between the riser, second motor fixed connection is in two in the riser on the riser, the output shaft of second motor with the corresponding one end of ball is connected, remove the slip table pass through ball nut connect in on the ball, it keeps away from to remove the slip table one side of mounting panel is equipped with the extension arm, hyperspectral camera fixed connection in on the extension arm.

Preferably, two be equipped with the slide between the riser, the slide is close to one side of removing the slip table is equipped with the guide rail, remove the slip table be close to one side of slide be equipped with guide rail looks adaptation's slider, slider sliding connection in on the guide rail.

Preferably, the fixed frame is provided with a lighting lamp.

An intelligent seedling sorting method utilizes the intelligent seedling sorting equipment and comprises the following steps:

s1: starting a power supply of the equipment, setting starting parameters, turning on an illuminating lamp and a hyperspectral camera, setting the exposure time and gain of the hyperspectral camera, collecting the wavelength range, performing push-scan display to select a pseudo-color image, and setting a storage path and a storage format;

s2: placing the plug tray with the planted seedlings on a conveyor belt, starting a belt conveyor, and adjusting the conveying speed according to the exposure time of a camera;

s3: triggering an acquisition button when the plug tray reaches the field of view of the hyperspectral camera, starting to acquire the spectral information of the seedlings by the hyperspectral camera, inputting the acquired information into a classification model through algorithm processing, and giving a classification result by the model;

s4: when the plug reaches the lower part of the spray pipe, the classification result is given according to the model, the spray pipe is triggered to spray strong brine to the selected seedlings, and the sorting is completed.

Compared with the prior art, the invention achieves the following technical effects: according to the invention, based on the rapid lossless identification of the optical imaging of the hyperspectral camera, the strong brine is sprayed on the selected seedlings through the spray pipe, so that the fertile seedlings are accurately pulled out, the rapid, unmanned and efficient sorting effect is achieved, the whole equipment is simple in structure and convenient and fast to operate, the sorting efficiency can be effectively improved, and the sorting cost is reduced.

Drawings

FIG. 1 is a perspective view at an angle of an intelligent seedling sorting apparatus of the present invention;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

FIG. 3 is a perspective view of another angle of the intelligent seedling sorting apparatus of the present invention;

FIG. 4 is a partial enlarged view of portion B of FIG. 3;

FIG. 5 is a front view of the drive and hyperspectral camera portion;

FIG. 6 is a perspective view of a drive arrangement and hyperspectral camera portion;

in the figure: 1. a frame; 2. a fixed frame; 3. a belt conveyor; 301. a conveyor belt; 302. a transfer roller; 303. a first motor; 304. a transmission belt; 305. a driving wheel; 4. a hyperspectral camera; 5. a drive device; 501. a second motor; 502. a vertical plate; 503. a ball screw; 504. moving the sliding table; 6. a nozzle; 7. a plug; 8. a water tank; 9. mounting a plate; 10. an extension arm; 11. a slide plate; 12. a guide rail; 13. an illuminating lamp; 14. a sensor; 15. a power distribution cabinet; 16. an operation panel; 17. a display screen; 18. a universal wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 1-6, the invention discloses a seedling intelligent sorting device, comprising: the seedling sorting machine comprises a rack 1, a fixed frame 2 and a conveying device used for conveying plug trays 7 are arranged at the top of the rack 1, an image information acquisition device is arranged on one side in the fixed frame 2 and used for acquiring image information of seedlings, a plurality of spray pipes 6 are arranged in the fixed frame 2 side by side on the side opposite to the image information acquisition device, a plurality of rows of plug trays 7 are arranged on the plug trays 7, the number of each row of plug trays is equal to that of the spray pipes 6, the image information acquisition device and the spray pipes 6 are located above the conveying device, when the seedling sorting machine is used, the plug trays containing the seedlings are placed on the conveying device, the conveying device drives the plug trays 7 to move, when the plug trays 7 move below the image information acquisition device, the image information acquisition device automatically acquires images of the seedlings, spectrum information of the seedlings is acquired, the components of the seedlings are analyzed and judged, the plug trays 7 continue to move forwards, when the plug trays 7 move below the spray pipes 6, saturated water to the selected seedlings through the spray pipes 6 through strong brine according to an analysis result, and sorting of the seedlings is completed.

In this embodiment, frame 1 bottom is equipped with water tank 8, and water tank 8 is used for saving saturated strong brine, and a plurality of spray tubes 6 pass through water pump and 8 intercommunications of water tank, through water pipe intercommunication between water pump and the spray tube 6, through the saturated strong brine pump sending in the water tank 8 to spray tube 6 of water pump.

In the embodiment, each spray pipe 6 is provided with a control valve, so that independent control of a plurality of spray pipes is facilitated.

In this embodiment, conveyor is band conveyer 3, band conveyer 3 includes conveyer belt 301, two transfer rollers 302, first motor 303, drive belt 304 and two drive wheels 305, two transfer rollers 302 rotate and connect in frame 1 both sides, conveyer belt 301 cup joints in two transfer rollers 302 outsides, one end of one of them transfer roller 302 in two transfer rollers 302 is connected with a drive wheel 305, first motor 303 sets up in frame 1, the output of first motor 303 is connected with a drive wheel 305, two drive wheels 305 pass through drive belt 304 and connect, when using, first motor 303 drives two transfer rollers 302 through drive belt 304 and drive wheel 305 and rotates, two transfer rollers 302 drive conveyer belt 301 circulation and rotate, conveyer belt 301 drives cave dish 7 and removes.

In this embodiment, the lower terminal surface of drive belt 304 is equipped with bearing plate, and bearing plate fixed connection is in frame 1 for play the supporting role to the cave dish on the conveyer belt, avoid the conveyer belt atress to warp, improve the stability that the cave dish removed the process.

In this embodiment, image information collection system is hyperspectral camera 4 for gather the seedling image, acquire seedling spectral information, hyperspectral camera 4 passes through the mounting panel 9 and connects on fixed frame 2.

In this embodiment, be equipped with the drive arrangement 5 that is used for driving hyperspectral camera 4 up-and-down motion on the mounting panel 9, hyperspectral camera 4 connects in drive arrangement 5's output, utilizes drive arrangement 5 can drive hyperspectral camera 4 and reciprocate, realizes hyperspectral camera 4 altitude mixture control to the hyperspectral camera 4 of being convenient for can satisfy the user demand of co-altitude seedling, and can gather best image information.

In this embodiment, drive arrangement 5 includes second motor 501, two risers 502, ball 503 and removal slip table 504, two risers 502 fixed connection are on mounting panel 9, ball 503 rotates to be connected between two risers 502, second motor 501 fixed connection is on one of them riser 502 in two risers 502, the output shaft of second motor 501 is connected with the corresponding one end of ball 503, it connects on ball 503 through ball nut to remove slip table 504, it is equipped with extension arm 10 to remove one side that slip table 504 kept away from mounting panel 9, hyperspectral camera 4 fixed connection is on extension arm 10, when using, it rotates to drive ball 503 through second motor 501, ball 503 drives removal slip table 504 and reciprocates, removal slip table 504 drives extension arm 10 and reciprocates, extension arm 10 drives hyperspectral camera 4 and reciprocates, can realize hyperspectral camera 4's altitude mixture control.

In this embodiment, a sliding plate 11 is disposed between two vertical plates 502, a guide rail 12 is disposed on one side of the sliding plate 11 close to the sliding table 504, and a slider adapted to the guide rail 12 is disposed on one side of the sliding table 504 close to the sliding plate 11, and the slider is slidably connected to the guide rail 12.

In the present embodiment, the fixed frame 2 is provided with an illumination lamp 13 for enhancing illumination.

In this embodiment, the number of the illumination lamps 13 is two, and the two illumination lamps are disposed on two sides inside the fixing frame 2.

In the present embodiment, the illumination lamp 13 is a dc halogen lamp.

In this embodiment, 1 top of frame is equipped with multiunit sensor 14, and multiunit sensor 14 interval sets up in 1 top of frame for detect the position of cave dish 7, thereby be convenient for realize that hyperspectral camera 4 shoots the accuracy of the kind of seedling on the cave dish and the spray tube sprays the strong brine to the accuracy of the fertile kind of seedling that discerns.

In this embodiment, a power distribution cabinet 15 is disposed on the fixed frame 2, and the power distribution cabinet 15 is disposed inside the fixed frame 2.

In the present embodiment, an operation panel 16 and a display screen 17 electrically connected to the power distribution cabinet are provided outside the fixed frame 2.

In the present embodiment, a tray for placing a keyboard is provided below the operation panel 16; the tray is movably connected to the fixed frame 2.

In this embodiment, the side of the tray away from the illumination lamp 13 is provided with a handle.

In the embodiment, the bottom end of the tray is movably connected to the fixed frame 2 through a hinge; two movable plates are symmetrically arranged on one side of the tray close to the illuminating lamp 13; each movable plate is provided with an arc-shaped groove; correspondingly, the fixed frame 2 is provided with a fixed pin matched with the arc-shaped groove; the arc-shaped groove is sleeved outside the fixing pin.

In this embodiment, the bottom of the frame 1 is provided with universal wheels 18.

In this embodiment, the caster wheel 18 is provided with a brake device to prevent the equipment from moving during operation.

In the present embodiment, the first motor 303 and the second motor 501 are both servo motors.

Example two

The invention discloses an intelligent seedling sorting method, which utilizes intelligent seedling sorting equipment of the first embodiment and comprises the following steps:

s1: starting a power supply of the equipment, setting starting parameters, turning on an illuminating lamp (13) and a hyperspectral camera (4), setting exposure time and gain of the hyperspectral camera (4), collecting a wavelength range, performing push-scan display to select a pseudo-color image, setting a storage path and storing a format;

s2: placing the plug tray (7) planted with the seedlings on a conveying belt (301), starting a belt conveyor (3), and adjusting the conveying speed according to the exposure time of a camera;

s3: when the aperture disk (7) reaches the visual field of the hyperspectral camera (4), triggering an acquisition button, starting to acquire the spectral information of the seedlings by the hyperspectral camera (4), inputting the acquired information into a classification model through algorithm processing, and giving a classification result by the model;

s4: when the plug (7) reaches the lower part of the spray pipe (6), the spray pipe (6) is triggered to spray a proper amount of concentrated saline water to the selected seedlings according to the classification result given by the model, and the sorting is completed.

In the present embodiment, the collection wavelength range of the hyperspectral camera 4 is set to 400-1000nm.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.

Claims (10)

1. The utility model provides a seedling intelligence sorting facilities which characterized in that includes: frame (1), frame (1) top is equipped with fixed frame (2) and the conveyor who is used for transmitting cave dish (7), one side in fixed frame (2) is equipped with image information collection system, in fixed frame (2) with one side that image information collection system is relative is equipped with a plurality of spray tubes (6) side by side, image information collection system and a plurality of spray tube (6) all are located the conveyor top.

2. The intelligent seedling sorting device according to claim 1, wherein a water tank (8) is arranged at the bottom of the rack (1), and the spray pipes (6) are communicated with the water tank (8) through a water pump.

3. The intelligent seedling sorting device according to claim 1, wherein the conveying device is a belt conveyor (3), the belt conveyor (3) comprises a conveying belt (301), two conveying rollers (302), a first motor (303), a conveying belt (304) and two transmission wheels (305), the two conveying rollers (302) are rotatably connected to two sides of the rack (1), the conveying belt (301) is sleeved outside the two conveying rollers (302), one end of one of the two conveying rollers (302) is connected with one transmission wheel (305), the first motor (303) is arranged on the rack (1), an output end of the first motor (303) is connected with one transmission wheel (305), and the two transmission wheels (305) are connected through the conveying belt (304).

4. The intelligent seedling sorting device according to claim 3, wherein a bearing pallet is arranged on the lower end face of the transmission belt (304), and the bearing pallet is fixedly connected to the rack (1).

5. The intelligent seedling sorting device according to claim 1, wherein the image information acquisition device is a hyperspectral camera (4), and the hyperspectral camera (4) is connected to the fixed frame (2) through a mounting plate (9).

6. The intelligent seedling sorting device according to claim 5, wherein a driving device (5) for driving the hyperspectral camera (4) to move up and down is arranged on the mounting plate (9), and the hyperspectral camera (4) is connected to an output end of the driving device (5).

7. The intelligent seedling sorting device according to claim 6, wherein the driving device (5) comprises a second motor (501), two risers (502), a ball screw (503) and a movable sliding table (504), the two risers (502) are fixedly connected to the mounting plate (9), the ball screw (503) is rotatably connected between the two risers (502), the second motor (501) is fixedly connected to the two risers (502), one of the risers (502) is connected to the output shaft of the second motor (501) is connected to one end corresponding to the ball screw (503), the movable sliding table (504) is connected to the ball screw (503) through a ball nut, one side, far away from the mounting plate (9), of the movable sliding table (504) is provided with the extension arm (10), and the hyperspectral camera (4) is fixedly connected to the extension arm (10).

8. The intelligent seedling sorting device according to claim 7, wherein a sliding plate (11) is arranged between the two risers (502), a guide rail (12) is arranged on one side of the sliding plate (11) close to the movable sliding table (504), a sliding block matched with the guide rail (12) is arranged on one side of the movable sliding table (504) close to the sliding plate (11), and the sliding block is slidably connected to the guide rail (12).

9. An intelligent seedling sorting device according to claim 1, wherein a lighting lamp (13) is arranged on the fixed frame (2).

10. An intelligent seedling sorting method, characterized in that the intelligent seedling sorting device as claimed in any one of claims 1-9 is used, and comprises the following steps:

s1: starting a power supply of the equipment, setting starting parameters, turning on an illuminating lamp (13) and a hyperspectral camera (4), setting exposure time and gain of the hyperspectral camera (4), collecting a wavelength range, performing push-scan display to select a pseudo-color image, setting a storage path and storing a format;

s2: placing the plug tray (7) planted with the seedlings on a conveying belt (301), starting a belt conveyor (3), and adjusting the conveying speed according to the exposure time of a camera;

s3: when the plug (7) reaches the visual field of the hyperspectral camera (4), triggering a collection button, starting to collect the spectral information of the seedlings by the hyperspectral camera (4), inputting the collected information into a classification model through algorithm processing, and giving a classification result by the model;

s4: when the plug (7) reaches the lower part of the spray pipe (6), the classification result is given according to the model, the spray pipe (6) is triggered to spray strong brine to the selected seedlings, and the classification is completed.

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